Physical interaction between human and a bipedal humanoid robot - realization of human-follow walking

Samuel Agus Setiawan, Jin'ichi Yamaguchi, Sang Ho Hyon, Atsuo Takanishi

Research output: Contribution to journalConference article


This research is aimed at the development of bipedal humanoid robots working in a human living space, with a focus on its physical construction and motion control method. At the first stage, we developed the bipedal humanoid robot WABIAN (WAseda BIpedal humANoid), and proposed a control method for dynamic cooperative biped walking. In this paper, we presented a follow-walking control method with a switching patterns technique for a bipedal humanoid robot to follow human motion by hand contact. By a combination of both algorithms, the robot has been able to perform dynamic stepping, walking forward and backward in a continuous time while someone is pushing or pulling its hand in such a way. In this paper, the authors describe the control methods for the realization of physical interaction between a human and a bipedal humanoid robot.

Original languageEnglish
Pages (from-to)361-367
Number of pages7
JournalProceedings - IEEE International Conference on Robotics and Automation
Publication statusPublished - 1999 Jan 1
EventProceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA
Duration: 1999 May 101999 May 15


ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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